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1. \u5f15\u8a00<\/strong><\/p>\n\n\n\n

\u4eba\u673a\u534f\u4f5c\u7684\u6838\u5fc3\u6311\u6218\u5728\u4e8e\u5982\u4f55\u5e73\u8861\u751f\u4ea7\u6548\u7387\u4e0e\u5b89\u5168\u6027\u3002\u5f53\u524d\u4e3b\u6d41\u534f\u4f5c\u673a\u5668\u4eba\uff08\u5982UR\u3001Franka Emika\uff09\u4f9d\u8d56\u5173\u8282\u529b\u77e9\u4f20\u611f\u5668\u6216\u7535\u6d41\u73af\u4f30\u7b97\u5916\u90e8\u529b\u77e9\uff0c\u5f53\u4f30\u7b97\u529b\u77e9\u8d85\u51fa\u9608\u503c\u65f6\u89e6\u53d1\u6025\u505c\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u65b9\u6cd5\u7684\u7f3a\u9677\u65e5\u76ca\u660e\u663e\uff1a(1) \u5ef6\u8fdf\u95ee\u9898<\/strong>\uff1a\u529b\u77e9\u4f30\u7b97\u9700\u8981\u7ecf\u8fc7\u7535\u673a\u7535\u6d41\u6ee4\u6ce2\u3001\u6469\u64e6\u529b\u52a8\u6001\u8865\u507f\u3001\u8d1f\u8f7d\u60ef\u91cf\u8ba1\u7b97\u7b49\uff0c\u603b\u5ef6\u8fdf\u53ef\u8fbe50-100ms\uff0c\u5728\u6b64\u671f\u95f4\u673a\u5668\u4eba\u53ef\u80fd\u5df2\u7ecf\u5bf9\u4eba\u9020\u6210\u4f24\u5bb3\u3002(2) \u8bef\u89e6\u53d1<\/strong>\uff1a\u5efa\u6a21\u8bef\u5dee\uff08\u6bd4\u5982\u8d1f\u8f7d\u672a\u77e5\u3001\u5173\u8282\u6469\u64e6\u53d8\u5316\uff09\u5e38\u4ea7\u751f\u865a\u5047\u529b\u77e9\u4fe1\u53f7\uff0c\u5bfc\u81f4\u9891\u7e41\u505c\u673a\u3002(3) \u7075\u654f\u5ea6\u9650\u5236<\/strong>\uff1a\u4f4e\u901f\u8fd0\u52a8\u4e2d\u9759\u6469\u64e6\u63a9\u76d6\u5fae\u5f31\u78b0\u649e\u4fe1\u53f7\uff0c\u65e0\u6cd5\u68c0\u6d4b\u4f4e\u4e8e5N\u7684\u63a5\u89e6\u3002<\/p>\n\n\n\n

\u865a\u62df\u7269\u7406\u5f15\u64ce\u957f\u671f\u7528\u4e8e\u6e38\u620f\u6216\u673a\u5668\u4eba\u4eff\u771f\uff0c\u5c06\u7269\u7406\u5b9a\u5f8b\u5d4c\u5165\u5e76\u884c\u8ba1\u7b97\u67b6\u6784\uff08\u5982NVIDIA PhysX\u3001Bullet\uff09\u3002\u672c\u6587\u7684\u6838\u5fc3\u601d\u60f3\u662f\uff1a\u5229\u7528\u865a\u62df\u5f15\u64ce\u5efa\u7acb\u4e00\u4e2a\u201c\u5b8c\u7f8e\u201d\u7684\u6570\u5b57\u5b6a\u751f\u673a\u5668\u4eba\u2014\u2014\u5176\u52a8\u529b\u5b66\u6a21\u578b\u53c2\u6570\u7ecf\u8fc7\u7cbe\u786e\u8fa8\u8bc6\uff0c\u5e76\u4ee5\u8fdc\u9ad8\u4e8e\u5b9e\u65f6\u8981\u6c42\u7684\u9891\u7387\u5411\u524d\u6a21\u62df\u3002\u5c06\u7269\u7406\u673a\u5668\u4eba\u7684\u5b9e\u9645\u4f20\u611f\u5668\u8bfb\u6570\u4e0e\u865a\u62df\u5f15\u64ce\u7684\u9884\u6d4b\u8f93\u51fa\u8fdb\u884c\u5b9e\u65f6\u6b8b\u5dee\u5206\u6790\uff0c\u53ef\u5b9e\u73b0\u8d85\u9ad8\u7075\u654f\u5ea6\u7684\u78b0\u649e\u68c0\u6d4b\u3002\u540c\u65f6\uff0c\u5229\u7528\u865a\u62df\u5f15\u64ce\u53ef\u4efb\u610f\u6ce8\u5165\u6545\u969c\u7684\u7279\u70b9\uff0c\u5728\u4e0d\u5371\u53ca\u7269\u7406\u786c\u4ef6\u7684\u60c5\u51b5\u4e0b\u9a8c\u8bc1\u5b89\u5168\u63a7\u5236\u7b56\u7565\u7684\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n

2. \u865a\u62df\u7269\u7406\u5f15\u64ce\u5efa\u6a21\u4e0e\u5b9e\u65f6\u540c\u6b65\u6846\u67b6<\/strong><\/p>\n\n\n\n

2.1 \u9ad8\u4fdd\u771f\u52a8\u529b\u5b66\u6a21\u578b<\/strong>
\u534f\u4f5c\u673a\u5668\u4eba\u7684\u52a8\u529b\u5b66\u65b9\u7a0b\uff1aM<\/mi>(<\/mo>q<\/mi>)<\/mo>q<\/mi>\u00a8<\/mo><\/mover>+<\/mo>C<\/mi>(<\/mo>q<\/mi>,<\/mo>q<\/mi>\u02d9<\/mo><\/mover>)<\/mo>q<\/mi>\u02d9<\/mo><\/mover>+<\/mo>G<\/mi>(<\/mo>q<\/mi>)<\/mo>+<\/mo>\u03c4<\/mi>f<\/mi>r<\/mi>i<\/mi>c<\/mi><\/mrow><\/msub>(<\/mo>q<\/mi>\u02d9<\/mo><\/mover>)<\/mo>+<\/mo>\u03c4<\/mi>e<\/mi>x<\/mi>t<\/mi><\/mrow><\/msub>=<\/mo>\u03c4<\/mi>m<\/mi>o<\/mi>t<\/mi>o<\/mi>r<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>M<\/em>(q<\/em>)q<\/em>\u00a8\u200b+C<\/em>(q<\/em>,q<\/em>\u02d9\u200b)q<\/em>\u02d9\u200b+G<\/em>(q<\/em>)+\u03c4<\/em>f<\/em>r<\/em>i<\/em>c<\/em>\u200b(q<\/em>\u02d9\u200b)+\u03c4<\/em>e<\/em>x<\/em>t<\/em>\u200b=\u03c4<\/em>m<\/em>o<\/em>t<\/em>or<\/em>\u200b<\/p>\n\n\n\n

\u5176\u4e2d M<\/mi>,<\/mo>C<\/mi>,<\/mo>G<\/mi><\/mrow><\/semantics><\/math>M<\/em>,C<\/em>,G<\/em> \u5206\u522b\u4e3a\u60ef\u6027\u3001\u79d1\u6c0f\u548c\u91cd\u529b\u9879\uff0c\u03c4<\/mi>f<\/mi>r<\/mi>i<\/mi>c<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>\u03c4<\/em>f<\/em>r<\/em>i<\/em>c<\/em>\u200b \u4e3a\u975e\u7ebf\u6027\u6469\u64e6\uff08\u542bStribeck\u6548\u5e94\uff09\uff0c\u03c4<\/mi>e<\/mi>x<\/mi>t<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>\u03c4<\/em>e<\/em>x<\/em>t<\/em>\u200b \u4e3a\u5916\u90e8\u78b0\u649e\u529b\u77e9\u3002
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2.2 \u5e76\u884c\u5b9e\u65f6\u540c\u6b65\u67b6\u6784<\/strong>
\u8bbe\u7f6e\u72ec\u7acb\u5b9e\u65f6\u7ebf\u7a0b\uff1a<\/p>\n\n\n\n

    \n
  • \u4f20\u611f\u5668\u7ebf\u7a0b<\/strong>\uff1a\u4ee51kHz\u8bfb\u53d6\u7f16\u7801\u5668\u4f4d\u7f6e\u3001\u7535\u673a\u7535\u6d41\uff08\u8f6c\u4e3a\u529b\u77e9\uff09\u53ca\u53ef\u9009\u7684\u9644\u52a0\u529b\u4f20\u611f\u5668\u3002<\/li>\n\n\n\n
  • \u865a\u62df\u5f15\u64ce\u7ebf\u7a0b<\/strong>\uff1a\u5728\u540c\u4e00\u65f6\u523b\u83b7\u53d6\u5f53\u524d\u7269\u7406\u673a\u5668\u4eba\u7684\u4f4d\u7f6e\u548c\u901f\u5ea6\u00a0q<\/mi>a<\/mi>c<\/mi>t<\/mi><\/mrow><\/msub>,<\/mo>q<\/mi>\u02d9<\/mo><\/mover>a<\/mi>c<\/mi>t<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>q<\/em>a<\/em>c<\/em>t<\/em>\u200b,q<\/em>\u02d9\u200ba<\/em>c<\/em>t<\/em>\u200b\u4f5c\u4e3a\u521d\u59cb\u6761\u4ef6\uff0c\u4ee5\u66f4\u7cbe\u7ec6\u7684\u65f6\u95f4\u6b65\u957f\uff08\u59820.2ms\uff0c\u53735kHz\uff09\u524d\u5411\u79ef\u5206\u52a8\u529b\u5b66\u65b9\u7a0b\uff0c\u9884\u6d4b\u4e0b\u4e00\u65f6\u523b\u72b6\u6001\u3002\u7528\u4e8e\u9884\u6d4b\u7684\u7535\u673a\u529b\u77e9\u4f7f\u7528\u4e0e\u7269\u7406\u673a\u5668\u4eba\u76f8\u540c\u7684\u6307\u4ee4\u503c\u3002<\/li>\n\n\n\n
  • \u6b8b\u5dee\u8ba1\u7b97\u4e0e\u68c0\u6d4b<\/strong>\uff1a\u6bd4\u8f83\u7269\u7406\u673a\u5668\u4eba\u5b9e\u6d4b\u4e0b\u4e00\u65f6\u523b\u4f4d\u7f6e\/\u529b\u77e9\u4e0e\u865a\u62df\u5f15\u64ce\u9884\u6d4b\u503c\uff0c\u5f62\u6210\u6b8b\u5dee\u4fe1\u53f7\u3002<\/li>\n<\/ul>\n\n\n\n

    3. \u57fa\u4e8e\u6b8b\u5dee\u7edf\u8ba1\u68c0\u9a8c\u7684\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5<\/strong><\/p>\n\n\n\n

    3.1 \u6b8b\u5dee\u5efa\u6a21\u4e0e\u9608\u503c\u81ea\u9002\u5e94<\/strong>
    \u5b9a\u4e49\u6b8b\u5dee\u5411\u91cf r<\/mi>(<\/mo>t<\/mi>)<\/mo>=<\/mo>\u03c4<\/mi>m<\/mi>o<\/mi>t<\/mi>o<\/mi>r<\/mi><\/mrow>m<\/mi>e<\/mi>a<\/mi>s<\/mi><\/mrow><\/msubsup>\u2212<\/mo>\u03c4<\/mi>m<\/mi>o<\/mi>t<\/mi>o<\/mi>r<\/mi><\/mrow>v<\/mi>i<\/mi>r<\/mi>t<\/mi>u<\/mi>a<\/mi>l<\/mi>_<\/mi>p<\/mi>r<\/mi>e<\/mi>d<\/mi><\/mrow><\/msubsup><\/mrow><\/semantics><\/math>r<\/strong>(t<\/em>)=\u03c4<\/em>m<\/em>o<\/em>t<\/em>or<\/em>m<\/em>e<\/em>a<\/em>s<\/em>\u200b\u2212\u03c4<\/em>m<\/em>o<\/em>t<\/em>or<\/em>v<\/em>i<\/em>r<\/em>t<\/em>u<\/em>a<\/em>l<\/em>_p<\/em>re<\/em>d<\/em>\u200b\u3002\u5f53\u65e0\u78b0\u649e\u65f6\uff0c\u6b8b\u5dee\u5e94\u670d\u4ece\u96f6\u5747\u503c\u9ad8\u65af\u5206\u5e03\uff0c\u5176\u65b9\u5dee\u7531\u6a21\u578b\u8bef\u5dee\u3001\u4f20\u611f\u5668\u566a\u58f0\u7b49\u51b3\u5b9a\u3002\u901a\u8fc7\u5728\u7ebf\u4f30\u8ba1\u6b8b\u5dee\u534f\u65b9\u5dee\u77e9\u9635 \u03a3<\/mi>r<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>\u03a3r<\/em>\u200b(t<\/em>)\uff0c\u6784\u9020\u9a6c\u6c0f\u8ddd\u79bb D<\/mi>(<\/mo>t<\/mi>)<\/mo>=<\/mo>r<\/mi>(<\/mo>t<\/mi>)<\/mo>T<\/mi><\/msup>\u03a3<\/mi>r<\/mi>\u2212<\/mo>1<\/mn><\/mrow><\/msubsup>(<\/mo>t<\/mi>)<\/mo>r<\/mi>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/msqrt><\/mrow><\/semantics><\/math>D<\/em>(t<\/em>)=r<\/strong>(t<\/em>)T<\/em>\u03a3r<\/em>\u22121\u200b(t<\/em>)r<\/strong>(t<\/em>)\u200b\u3002<\/p>\n\n\n\n

    \u4f4e\u80fd\u91cf\u78b0\u649e\u53d1\u751f\u65f6\uff0c\u03c4<\/mi>e<\/mi>x<\/mi>t<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>\u03c4<\/em>e<\/em>x<\/em>t<\/em>\u200b \u4f7f\u6b8b\u5dee\u5747\u503c\u7a81\u7136\u504f\u79fb\uff0c\u5bfc\u81f4\u9a6c\u6c0f\u8ddd\u79bb\u5267\u589e\u3002\u91c7\u7528CUSUM\uff08\u7d2f\u79ef\u548c\uff09\u7b97\u6cd5\u66ff\u4ee3\u7b80\u5355\u9608\u503c\uff0c\u80fd\u66f4\u5feb\u68c0\u6d4b\u5fae\u5c0f\u6301\u7eed\u504f\u79fb\uff0c\u540c\u65f6\u6291\u5236\u5c16\u5cf0\u566a\u58f0\u5bfc\u81f4\u7684\u865a\u8b66\u3002\u68c0\u6d4b\u89c4\u5219\u4e3a\uff1ag<\/mi>k<\/mi><\/msub>=<\/mo>max<\/mi>\u2061<\/mo>(<\/mo>0<\/mn>,<\/mo>g<\/mi>k<\/mi>\u2212<\/mo>1<\/mn><\/mrow><\/msub>+<\/mo>D<\/mi>(<\/mo>t<\/mi>)<\/mo>\u2212<\/mo>\u03bd<\/mi>)<\/mo>,<\/mo><\/mspace>if <\/mtext>g<\/mi>k<\/mi><\/msub>><\/mo>h<\/mi> then collision<\/mtext><\/mrow><\/semantics><\/math>g<\/em>k<\/em>\u200b=max(0,g<\/em>k<\/em>\u22121\u200b+D<\/em>(t<\/em>)\u2212\u03bd<\/em>),if g<\/em>k<\/em>\u200b>h<\/em> then collision<\/p>\n\n\n\n

    \u5176\u4e2d \u03bd<\/mi><\/mrow><\/semantics><\/math>\u03bd<\/em> \u4e3a\u6f02\u79fb\u53c2\u6570\uff0ch<\/mi><\/mrow><\/semantics><\/math>h<\/em> \u4e3a\u63a7\u5236\u9650\u3002<\/p>\n\n\n\n

    3.2 \u865a\u62df-\u7269\u7406\u5dee\u5f02\u8865\u507f<\/strong>
    \u9488\u5bf9\u957f\u65f6\u95f4\u8fd0\u884c\u4e2d\u53c2\u6570\u6f02\u79fb\uff08\u5982\u6e29\u5ea6\u5bfc\u81f4\u6469\u64e6\u529b\u53d8\u5316\uff09\uff0c\u8bbe\u8ba1\u81ea\u9002\u5e94\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u5728\u7ebf\u4fee\u6b63\u865a\u62df\u5f15\u64ce\u7684\u6b8b\u4f59\u53c2\u6570\u8bef\u5dee\uff0c\u786e\u4fdd\u6b8b\u5dee\u5747\u503c\u957f\u671f\u4fdd\u6301\u96f6\u5747\u503c\u3002<\/p>\n\n\n\n

    4. \u5b89\u5168\u63a7\u5236\u9a8c\u8bc1\uff1a\u865a\u62df\u6545\u969c\u6ce8\u5165<\/strong><\/p>\n\n\n\n

    4.1 ISO\/TS 15066\u8981\u6c42<\/strong>
    \u8be5\u6807\u51c6\u89c4\u5b9a\u4e86\u51c6\u9759\u6001\u63a5\u89e6\u4e0e\u77ac\u6001\u63a5\u89e6\u7684\u529b\u4e0e\u538b\u529b\u9650\u5236\u3002\u4f20\u7edf\u9a8c\u8bc1\u65b9\u5f0f\u9700\u8981\u5728\u7269\u7406\u6837\u673a\u4e0a\u7528\u4eba\u9020\u5047\u80a2\u6d4b\u91cf\uff0c\u98ce\u9669\u9ad8\u4e14\u8986\u76d6\u4e0d\u5168\u3002<\/p>\n\n\n\n

    4.2 \u865a\u62df\u9a8c\u8bc1\u6d41\u7a0b<\/strong><\/p>\n\n\n\n

      \n
    1. \u5728\u865a\u62df\u5f15\u64ce\u4e2d\u5efa\u7acb\u673a\u5668\u4eba\u3001\u64cd\u4f5c\u5458\uff08\u7b80\u5316\u4e3a\u5f39\u6027\u4f53\u6a21\u578b\uff09\u53ca\u73af\u5883\u7684\u78b0\u649e\u6a21\u578b\u3002<\/li>\n\n\n\n
    2. \u8fd0\u884c\u5f85\u9a8c\u8bc1\u7684\u63a7\u5236\u7b97\u6cd5\uff08\u5982\u57fa\u4e8e\u901f\u5ea6\u7f29\u51cf\u7684\u5b89\u5168\u76d1\u63a7\uff09\u3002<\/li>\n\n\n\n
    3. \u6ce8\u5165\u5404\u7c7b\u6545\u969c\u573a\u666f\uff1a\u4f20\u611f\u5668\u4fe1\u53f7\u4e22\u5931\u3001\u901a\u8baf\u5ef6\u8fdf\u3001\u78b0\u649e\u4f4d\u7f6e\u968f\u673a\u3001\u5916\u90e8\u51b2\u91cf\u5927\u5c0f\u968f\u673a\u7b49\uff0c\u6bcf\u79cd\u573a\u666f\u8499\u7279\u5361\u6d1b\u8fd0\u884c\u4e0a\u4e07\u6b21\u3002<\/li>\n\n\n\n
    4. \u7edf\u8ba1\u5206\u6790\u865a\u62df\u63a5\u89e6\u529b\u5cf0\u503c\u53ca\u80fd\u91cf\u4f20\u9012\uff0c\u9a8c\u8bc1\u662f\u5426\u8d85\u51faISO\u9650\u503c\u3002<\/li>\n<\/ol>\n\n\n\n

      5. \u5b9e\u9a8c\u4e0e\u7ed3\u679c<\/strong><\/p>\n\n\n\n

      5.1 \u5b9e\u9a8c\u5e73\u53f0<\/strong>
      \u91c7\u7528UR10e\u673a\u5668\u4eba\uff0c\u96c6\u6210\u9ad8\u7cbe\u5ea6\u7535\u6d41\u91c7\u6837\u677f\uff1b\u865a\u62df\u5f15\u64ce\u57fa\u4e8eNVIDIA PhysX 5.0\uff0c\u8fd0\u884c\u4e8e\u72ec\u7acb RTX 4070 GPU\u3002\u5bf9\u6bd4\u65b9\u6cd5\uff1a(1) \u539f\u59cbUR\u5185\u7f6e\u78b0\u649e\u68c0\u6d4b\uff1b(2) \u57fa\u4e8e\u5e7f\u4e49\u52a8\u91cf\u89c2\u6d4b\u5668\u7684\u7ecf\u5178\u65b9\u6cd5\u3002<\/p>\n\n\n\n

      5.2 \u78b0\u649e\u68c0\u6d4b\u6027\u80fd<\/strong>
      \u4f7f\u7528\u76f4\u5f8450mm\u7684\u6a61\u80f6\u9524\u4ee5\u968f\u673a\u529b\u5ea6\u6572\u51fb\u673a\u5668\u4eba\u8fde\u6746\u3002\u8bb0\u5f55\u4ece\u78b0\u649e\u53d1\u751f\u5230\u89e6\u53d1\u505c\u6b62\u7684\u5ef6\u8fdf\uff08\u901a\u8fc7\u9ad8\u901f\u76f8\u673a\u786e\u8ba4\u78b0\u649e\u65f6\u523b\u4e0e\u7535\u673a\u7535\u6d41\u53d8\u5316\u65f6\u523b\u4e4b\u5dee\uff09\u3002\u7ed3\u679c\uff1a<\/p>\n\n\n\n

        \n
      • UR\u5185\u7f6e\uff1a\u5e73\u5747\u5ef6\u8fdf104ms\uff0c\u6f0f\u68c0\u7387\uff08<2N\u78b0\u649e\uff09\u4e3a42%\u3002<\/li>\n\n\n\n
      • \u5e7f\u4e49\u52a8\u91cf\u6cd5\uff1a\u5ef6\u8fdf78ms\uff0c\u6f0f\u68c0\u738726%\u3002<\/li>\n\n\n\n
      • \u672c\u6587\u65b9\u6cd5<\/strong>\uff1a\u5ef6\u8fdf22ms\uff0c\u6f0f\u68c0\u73877.5%\uff08\u5176\u4e2d1.5N\u4ee5\u4e0b\u51e0\u4e4e\u65e0\u6cd5\u68c0\u6d4b\uff0c\u5c5e\u4e8e\u7406\u8bba\u6781\u9650\uff09\u3002<\/li>\n<\/ul>\n\n\n\n

        5.3 \u865a\u8b66\u7387\u6d4b\u8bd5<\/strong>
        \u5728\u6b63\u5e38\u88c5\u914d\u4f5c\u4e1a\uff08\u53d8\u901f\u79fb\u52a8\u3001\u51b2\u51fb\u4ece\u52a8\uff09\u4e2d\uff0c\u89c2\u6d4b1\u5c0f\u65f6\u5185\u53d1\u751f\u7684\u8bef\u505c\u6b21\u6570\u3002UR\u5185\u7f6e\uff1a8\u6b21\uff1b\u5e7f\u4e49\u52a8\u91cf\u6cd5\uff1a5\u6b21\uff1b\u672c\u6587\u65b9\u6cd5\uff1a2\u6b21\uff08\u7ecf\u5206\u6790\u4e3a\u7a81\u52a0\u8d1f\u8f7d\u5bfc\u81f4\uff09\u3002<\/p>\n\n\n\n

        5.4 \u5b89\u5168\u9a8c\u8bc1\u6848\u4f8b<\/strong>
        \u57fa\u4e8e\u865a\u62df\u5f15\u64ce\u6ce8\u5165\u901a\u4fe1\u4e22\u5305\u573a\u666f\uff08\u6982\u73875%\uff09\uff0c\u53d1\u73b0\u539f\u59cb\u63a7\u5236\u5668\u57284%\u7684\u4e22\u5305\u7387\u4e0b\u4ecd\u5b89\u5168\uff0c\u4f46\u8d85\u8fc78%\u65f6\u4ea7\u751f\u5927\u4e8e100N\u7684\u529b\u5cf0\u503c\u3002\u636e\u6b64\u4f18\u5316\u63a7\u5236\u534f\u8bae\uff0c\u589e\u52a0\u6570\u636e\u5305\u91cd\u4f20\u4e0e\u9884\u6d4b\u8865\u507f\uff0c\u901a\u8fc7\u865a\u62df\u9a8c\u8bc1\u540e\u518d\u90e8\u7f72\u7269\u7406\u5e73\u53f0\uff0c\u8282\u7701\u4e86\u7ea63\u5468\u6d4b\u8bd5\u65f6\u95f4\u3002<\/p>\n\n\n\n

        6. \u7ed3\u8bba<\/strong><\/p>\n\n\n\n

        \u672c\u6587\u8bc1\u660e\u4e86\u865a\u62df\u7269\u7406\u5f15\u64ce\u4e0d\u4ec5\u53ef\u4ee5\u4f5c\u4e3a\u79bb\u7ebf\u4eff\u771f\u5de5\u5177\uff0c\u66f4\u80fd\u5b9e\u65f6\u53c2\u4e0e\u673a\u5668\u4eba\u7684\u78b0\u649e\u68c0\u6d4b\u4e0e\u5b89\u5168\u9a8c\u8bc1\uff0c\u5f62\u6210\u201c\u6570\u5b57\u5b6a\u751f\u589e\u5f3a\u7684\u611f\u77e5-\u51b3\u7b56-\u9a8c\u8bc1\u201d\u95ed\u73af\u3002\u8be5\u65b9\u6cd5\u663e\u8457\u63d0\u5347\u4e86\u534f\u4f5c\u673a\u5668\u4eba\u5bf9\u5fae\u5f31\u78b0\u649e\u7684\u54cd\u5e94\u80fd\u529b\uff0c\u5e76\u5f00\u521b\u4e86\u7b26\u5408\u529f\u80fd\u5b89\u5168\u6807\u51c6\u7684\u5168\u865a\u62df\u8ba4\u8bc1\u65b0\u8303\u5f0f\u3002\u672a\u6765\u5de5\u4f5c\u5305\u62ec\u5c06\u865a\u62df\u5f15\u64ce\u76f4\u63a5\u5d4c\u5165\u673a\u5668\u4eba\u63a7\u5236\u5668\u82af\u7247\uff0c\u4ee5\u53ca\u5229\u7528\u5f3a\u5316\u5b66\u4e60\u5728\u865a\u62df\u73af\u5883\u4e2d\u9884\u8bad\u7ec3\u5b89\u5168\u907f\u78b0\u7b56\u7565\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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